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<div class="title">linemod.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_LINEMOD</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_LINEMOD</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/quantizable_modality.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/region_xy.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/sparse_quantized_multi_mod_template.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html">   55</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_energy_maps.html">EnergyMaps</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a3510f29e006f2d803bd7224cc7fbee83">   59</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#a3510f29e006f2d803bd7224cc7fbee83">EnergyMaps</a> () : width_ (0), height_ (0), nr_bins_ (0), maps_ () </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a9ca2363af6319e3376d1eee6fcd18b37">   64</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_energy_maps.html#a9ca2363af6319e3376d1eee6fcd18b37">~EnergyMaps</a> () </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#ab39875c9c212fdae0d2fb27c7aa55911">   70</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#ab39875c9c212fdae0d2fb27c7aa55911">getWidth</a> ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordflow">return</span> (width_); </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#afcbc1cb6c3b99730f1db7e74659313cc">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#afcbc1cb6c3b99730f1db7e74659313cc">getHeight</a> ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordflow">return</span> (height_); </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#aa30f9b6f4648122e1bb2d525c05b1f65">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#aa30f9b6f4648122e1bb2d525c05b1f65">getNumOfBins</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">return</span> (nr_bins_);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a8eab24aad0edd1a5af94e89c255100b2">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#a8eab24aad0edd1a5af94e89c255100b2">initialize</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height, <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_bins)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        maps_.resize(nr_bins, NULL);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        width_ = width;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        height_ = height;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        nr_bins_ = nr_bins;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> mapsSize = width*height;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; maps_.size (); ++map_index)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="comment">//maps_[map_index] = new unsigned char[mapsSize];</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          maps_[map_index] = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (aligned_malloc (mapsSize));</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          memset (maps_[map_index], 0, mapsSize);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a6b446dfa89e547feaaf3aaad3c0bae33">  114</a></span>&#160;      <a class="code" href="classpcl_1_1_energy_maps.html#a6b446dfa89e547feaaf3aaad3c0bae33">releaseAll</a> ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; maps_.size (); ++map_index)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="comment">//if (maps_[map_index] != NULL) delete[] maps_[map_index];</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordflow">if</span> (maps_[map_index] != NULL) aligned_free (maps_[map_index]);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        maps_.clear ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        width_ = 0;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        height_ = 0;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        nr_bins_ = 0;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &amp; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a55cd5dc5f9d1742475cd3ec30e26f175">  132</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index][row_index*width_ + col_index]);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &amp; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a96418bc1dd4426afa28b79475d0fb7f7">  142</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> index)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index][index]);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a8705d36762eecc80e0a5b07ee5b1b05a">  151</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index]);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &amp; </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a7d8f73edde295202b5fde74542d3912d">  162</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index][row_index*width_ + col_index]);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &amp; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#aef93560b09051172c2fcb88f0b028481">  172</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index][index]);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#acd48418769c1739f95cba4bbd6ba4c11">  181</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">return</span> (maps_[bin_index]);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#ab7ecbd7e2c8489b23e5eacc351c92822">  188</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_energy_maps.html#ab7ecbd7e2c8489b23e5eacc351c92822">width_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a3046dd50707d46c65f02c8a544c40acc">  190</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_energy_maps.html#a3046dd50707d46c65f02c8a544c40acc">height_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#ab746a387e29e1e9609a38b30cbda6af0">  192</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_energy_maps.html#ab746a387e29e1e9609a38b30cbda6af0">nr_bins_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_energy_maps.html#a95044852152efce19600b51ea77abc0e">  194</a></span>&#160;      std::vector&lt;unsigned char*&gt; <a class="code" href="classpcl_1_1_energy_maps.html#a95044852152efce19600b51ea77abc0e">maps_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html">  200</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_linearized_maps.html">LinearizedMaps</a></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a59f096b5ab6fe54cf74e761faafc5395">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#a59f096b5ab6fe54cf74e761faafc5395">LinearizedMaps</a> () : width_ (0), height_ (0), mem_width_ (0), mem_height_ (0), step_size_ (0), maps_ ()</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#ae53f5f20a4303ba7cb751775f05fdcd7">  209</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_linearized_maps.html#ae53f5f20a4303ba7cb751775f05fdcd7">~LinearizedMaps</a> () </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a1e9898cebf0c24d566a438d9f7cb14f1">  215</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#a1e9898cebf0c24d566a438d9f7cb14f1">getWidth</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (width_); }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a882a1e73fc0fc84a8bec1ecc2564a320">  219</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#a882a1e73fc0fc84a8bec1ecc2564a320">getHeight</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (height_); }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#ab1342823690f1fdd89e118aa24e1abbf">  223</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#ab1342823690f1fdd89e118aa24e1abbf">getStepSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (step_size_); }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#ad26217b4ca8937b288baa177caaba2a7">  227</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#ad26217b4ca8937b288baa177caaba2a7">getMapMemorySize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (mem_width_ * mem_height_); }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a4c2bbf65283a174d35d273dc501daa71">  235</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#a4c2bbf65283a174d35d273dc501daa71">initialize</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height, <span class="keyword">const</span> <span class="keywordtype">size_t</span> step_size)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        maps_.resize(step_size*step_size, NULL);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        width_ = width;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        height_ = height;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        mem_width_ = width / step_size;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        mem_height_ = height / step_size;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        step_size_ = step_size;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> mapsSize = mem_width_ * mem_height_;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; maps_.size (); ++map_index)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <span class="comment">//maps_[map_index] = new unsigned char[2*mapsSize];</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          maps_[map_index] = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (aligned_malloc (2*mapsSize));</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          memset (maps_[map_index], 0, 2*mapsSize);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#aa44b8e4c0e56ed60aeb49f3fbd3ebcc1">  256</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#aa44b8e4c0e56ed60aeb49f3fbd3ebcc1">releaseAll</a> ()</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; maps_.size (); ++map_index)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          <span class="comment">//if (maps_[map_index] != NULL) delete[] maps_[map_index];</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          <span class="keywordflow">if</span> (maps_[map_index] != NULL) aligned_free (maps_[map_index]);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        maps_.clear ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        width_ = 0;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        height_ = 0;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        mem_width_ = 0;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        mem_height_ = 0;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        step_size_ = 0;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#ae26d50b1de413a6c0cdf79bb10defd36">  275</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordflow">return</span> (maps_[row_index*step_size_ + col_index]);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * </div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#acb50e7f7bac88d1198ba33532ba81867">  285</a></span>&#160;      <a class="code" href="classpcl_1_1_linearized_maps.html#acb50e7f7bac88d1198ba33532ba81867">getOffsetMap</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> map_col = col_index % step_size_;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> map_row = row_index % step_size_;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> map_mem_col_index = col_index / step_size_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> map_mem_row_index = row_index / step_size_;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordflow">return</span> (maps_[map_row*step_size_ + map_col] + map_mem_row_index*mem_width_ + map_mem_col_index);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#aced4cf78026cbc4c44ab572057e2bca0">  298</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_linearized_maps.html#aced4cf78026cbc4c44ab572057e2bca0">width_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a22791fea03c156efef6ed2a5d0d6fe09">  300</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_linearized_maps.html#a22791fea03c156efef6ed2a5d0d6fe09">height_</a>;</div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#ad3c16215b3c87bdeaeadabf6bfd93226">  302</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_linearized_maps.html#ad3c16215b3c87bdeaeadabf6bfd93226">mem_width_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a17a2d40d723f7c93d14c4b4ce7409a23">  304</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_linearized_maps.html#a17a2d40d723f7c93d14c4b4ce7409a23">mem_height_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a89470b8e7ccbf8487995074cd4225eeb">  306</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_linearized_maps.html#a89470b8e7ccbf8487995074cd4225eeb">step_size_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_linearized_maps.html#a22515dda9db2f52eff445ab3073be8f1">  308</a></span>&#160;      std::vector&lt;unsigned char*&gt; <a class="code" href="classpcl_1_1_linearized_maps.html#a22515dda9db2f52eff445ab3073be8f1">maps_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  };</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">  314</a></span>&#160;  <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">LINEMODDetection</a></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  {</div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a01cd16f8381c075e5183cbba157d5e51">  317</a></span>&#160;    <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a01cd16f8381c075e5183cbba157d5e51">LINEMODDetection</a> () : x (0), y (0), template_id (0), score (0.0f), scale (1.0f) {}</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">  320</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">x</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">  322</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">y</a>;</div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">  324</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>;</div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">  326</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">score</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">  328</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">scale</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  };</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html">  335</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html">LINEMOD</a></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac0b99408e558dc4aa10d645776cdb760">  339</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac0b99408e558dc4aa10d645776cdb760">LINEMOD</a> ();</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a9dbc96606c195c5bf38822955349e9b3">  342</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a9dbc96606c195c5bf38822955349e9b3">~LINEMOD</a> ();</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#adfdec3b719e5c48c7b048c069e05e2c2">  350</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#adfdec3b719e5c48c7b048c069e05e2c2">createAndAddTemplate</a> (<span class="keyword">const</span> std::vector&lt;QuantizableModality*&gt; &amp; modalities,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                            <span class="keyword">const</span> std::vector&lt;MaskMap*&gt; &amp; masks,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                            <span class="keyword">const</span> <a class="code" href="structpcl_1_1_region_x_y.html">RegionXY</a> &amp; region);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ad5a23ca2b02d8dd708319543146b1c85">  358</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ad5a23ca2b02d8dd708319543146b1c85">addTemplate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">SparseQuantizedMultiModTemplate</a> &amp; linemod_template);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ab8127a94ec03bf05667aa896ff19d9d6">  365</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ab8127a94ec03bf05667aa896ff19d9d6">detectTemplates</a> (<span class="keyword">const</span> std::vector&lt;QuantizableModality*&gt; &amp; modalities,</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                       std::vector&lt;LINEMODDetection&gt; &amp; detections) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a31f79ed0492d1c6b911c19f6bb052371">  377</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a31f79ed0492d1c6b911c19f6bb052371">detectTemplatesSemiScaleInvariant</a> (<span class="keyword">const</span> std::vector&lt;QuantizableModality*&gt; &amp; modalities,</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;                                         std::vector&lt;LINEMODDetection&gt; &amp; detections,</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;                                         <span class="keywordtype">float</span> min_scale = 0.6944444f,</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;                                         <span class="keywordtype">float</span> max_scale = 1.44f,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                                         <span class="keywordtype">float</span> scale_multiplier = 1.2f) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a459ed5340263209bf56436a02e531658">  388</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a459ed5340263209bf56436a02e531658">matchTemplates</a> (<span class="keyword">const</span> std::vector&lt;QuantizableModality*&gt; &amp; modalities,</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                      std::vector&lt;LINEMODDetection&gt; &amp; matches) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a618e2dfbb8420926a8cf47592a53857e">  395</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a618e2dfbb8420926a8cf47592a53857e">setDetectionThreshold</a> (<span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        template_threshold_ = threshold;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      }</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac84db3b27e4571cc3df2459a11e14a0d">  404</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac84db3b27e4571cc3df2459a11e14a0d">setNonMaxSuppression</a> (<span class="keywordtype">bool</span> use_non_max_suppression)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        use_non_max_suppression_ = use_non_max_suppression;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a87bd66ebcf0edbe1ee426e1d383fad0a">  413</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a87bd66ebcf0edbe1ee426e1d383fad0a">setDetectionAveraging</a> (<span class="keywordtype">bool</span> average_detections)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        average_detections_ = average_detections;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">SparseQuantizedMultiModTemplate</a> &amp;</div>
<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a349480f92ab9fc63abf848faeb4b1d49">  422</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a349480f92ab9fc63abf848faeb4b1d49">getTemplate</a> (<span class="keywordtype">int</span> template_id)<span class="keyword"> const</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordflow">return</span> (templates_[template_id]);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#acfc57fed45b04c31cf0f0fe73b2106a8">  429</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#acfc57fed45b04c31cf0f0fe73b2106a8">getNumOfTemplates</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        <span class="keywordflow">return</span> (templates_.size ());</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a22ebcb367204af47bf6c32a6bcae4fc8">  438</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a22ebcb367204af47bf6c32a6bcae4fc8">saveTemplates</a> (<span class="keyword">const</span> <span class="keywordtype">char</span> * file_name) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ae205f4aa9800d645d8d0ce54c78b2e0a">  444</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ae205f4aa9800d645d8d0ce54c78b2e0a">loadTemplates</a> (<span class="keyword">const</span> <span class="keywordtype">char</span> * file_name);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac62518c051bfbafe3a64f039a5ac29d6">  451</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ac62518c051bfbafe3a64f039a5ac29d6">loadTemplates</a> (std::vector&lt;std::string&gt; &amp; file_names);</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00457"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#aad23a29ab2cb74972697a8306ba75f18">  457</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#aad23a29ab2cb74972697a8306ba75f18">serialize</a> (std::ostream &amp; stream) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#a2134dee3002c8a9e1a7c42a7dadaf67c">  463</a></span>&#160;      <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#a2134dee3002c8a9e1a7c42a7dadaf67c">deserialize</a> (std::istream &amp; stream);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ae78ddf8884ff7212988e508e96562803">  468</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ae78ddf8884ff7212988e508e96562803">template_threshold_</a>;</div>
<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#aeb84c63527c8be1098858e365e9d85e8">  470</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#aeb84c63527c8be1098858e365e9d85e8">use_non_max_suppression_</a>;</div>
<div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#ad34a543e68d9f58fee97537d8d53ceca">  472</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#ad34a543e68d9f58fee97537d8d53ceca">average_detections_</a>;</div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1_l_i_n_e_m_o_d.html#af147c9cc41e546124fe806b98717797e">  474</a></span>&#160;      std::vector&lt;SparseQuantizedMultiModTemplate&gt; <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html#af147c9cc41e546124fe806b98717797e">templates_</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  };</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;}</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html"><div class="ttname"><a href="classpcl_1_1_energy_maps.html">pcl::EnergyMaps</a></div><div class="ttdoc">Stores a set of energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a3046dd50707d46c65f02c8a544c40acc"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a3046dd50707d46c65f02c8a544c40acc">pcl::EnergyMaps::height_</a></div><div class="ttdeci">size_t height_</div><div class="ttdoc">The height of the energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a3510f29e006f2d803bd7224cc7fbee83"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a3510f29e006f2d803bd7224cc7fbee83">pcl::EnergyMaps::EnergyMaps</a></div><div class="ttdeci">EnergyMaps()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> linemod.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a6b446dfa89e547feaaf3aaad3c0bae33"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a6b446dfa89e547feaaf3aaad3c0bae33">pcl::EnergyMaps::releaseAll</a></div><div class="ttdeci">void releaseAll()</div><div class="ttdoc">Releases the internal data.</div><div class="ttdef"><b>Definition:</b> linemod.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a8eab24aad0edd1a5af94e89c255100b2"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a8eab24aad0edd1a5af94e89c255100b2">pcl::EnergyMaps::initialize</a></div><div class="ttdeci">void initialize(const size_t width, const size_t height, const size_t nr_bins)</div><div class="ttdoc">Initializes the set of energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a95044852152efce19600b51ea77abc0e"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a95044852152efce19600b51ea77abc0e">pcl::EnergyMaps::maps_</a></div><div class="ttdeci">std::vector&lt; unsigned char * &gt; maps_</div><div class="ttdoc">Storage for the energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_a9ca2363af6319e3376d1eee6fcd18b37"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#a9ca2363af6319e3376d1eee6fcd18b37">pcl::EnergyMaps::~EnergyMaps</a></div><div class="ttdeci">virtual ~EnergyMaps()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> linemod.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_aa30f9b6f4648122e1bb2d525c05b1f65"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#aa30f9b6f4648122e1bb2d525c05b1f65">pcl::EnergyMaps::getNumOfBins</a></div><div class="ttdeci">size_t getNumOfBins() const</div><div class="ttdoc">Returns the number of bins used for quantization (which is equal to the number of energy maps).</div><div class="ttdef"><b>Definition:</b> linemod.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_ab39875c9c212fdae0d2fb27c7aa55911"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#ab39875c9c212fdae0d2fb27c7aa55911">pcl::EnergyMaps::getWidth</a></div><div class="ttdeci">size_t getWidth() const</div><div class="ttdoc">Returns the width of the energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_ab746a387e29e1e9609a38b30cbda6af0"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#ab746a387e29e1e9609a38b30cbda6af0">pcl::EnergyMaps::nr_bins_</a></div><div class="ttdeci">size_t nr_bins_</div><div class="ttdoc">The number of quantization bins (== the number of internally stored energy maps).</div><div class="ttdef"><b>Definition:</b> linemod.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_ab7ecbd7e2c8489b23e5eacc351c92822"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#ab7ecbd7e2c8489b23e5eacc351c92822">pcl::EnergyMaps::width_</a></div><div class="ttdeci">size_t width_</div><div class="ttdoc">The width of the energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_energy_maps_html_afcbc1cb6c3b99730f1db7e74659313cc"><div class="ttname"><a href="classpcl_1_1_energy_maps.html#afcbc1cb6c3b99730f1db7e74659313cc">pcl::EnergyMaps::getHeight</a></div><div class="ttdeci">size_t getHeight() const</div><div class="ttdoc">Returns the height of the energy maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html">pcl::LINEMOD</a></div><div class="ttdoc">Template matching using the LINEMOD approach.</div><div class="ttdef"><b>Definition:</b> linemod.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a2134dee3002c8a9e1a7c42a7dadaf67c"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a2134dee3002c8a9e1a7c42a7dadaf67c">pcl::LINEMOD::deserialize</a></div><div class="ttdeci">void deserialize(std::istream &amp;stream)</div><div class="ttdoc">Deserializes templates from the specified stream.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a22ebcb367204af47bf6c32a6bcae4fc8"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a22ebcb367204af47bf6c32a6bcae4fc8">pcl::LINEMOD::saveTemplates</a></div><div class="ttdeci">void saveTemplates(const char *file_name) const</div><div class="ttdoc">Saves the stored templates to the specified file.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a31f79ed0492d1c6b911c19f6bb052371"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a31f79ed0492d1c6b911c19f6bb052371">pcl::LINEMOD::detectTemplatesSemiScaleInvariant</a></div><div class="ttdeci">void detectTemplatesSemiScaleInvariant(const std::vector&lt; QuantizableModality * &gt; &amp;modalities, std::vector&lt; LINEMODDetection &gt; &amp;detections, float min_scale=0.6944444f, float max_scale=1.44f, float scale_multiplier=1.2f) const</div><div class="ttdoc">Detects the stored templates in a semi scale invariant manner by applying the detection to multiple s...</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a349480f92ab9fc63abf848faeb4b1d49"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a349480f92ab9fc63abf848faeb4b1d49">pcl::LINEMOD::getTemplate</a></div><div class="ttdeci">const SparseQuantizedMultiModTemplate &amp; getTemplate(int template_id) const</div><div class="ttdoc">Returns the template with the specified ID.</div><div class="ttdef"><b>Definition:</b> linemod.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a459ed5340263209bf56436a02e531658"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a459ed5340263209bf56436a02e531658">pcl::LINEMOD::matchTemplates</a></div><div class="ttdeci">void matchTemplates(const std::vector&lt; QuantizableModality * &gt; &amp;modalities, std::vector&lt; LINEMODDetection &gt; &amp;matches) const</div><div class="ttdoc">Matches the stored templates to the supplied modality data.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a618e2dfbb8420926a8cf47592a53857e"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a618e2dfbb8420926a8cf47592a53857e">pcl::LINEMOD::setDetectionThreshold</a></div><div class="ttdeci">void setDetectionThreshold(float threshold)</div><div class="ttdoc">Sets the detection threshold.</div><div class="ttdef"><b>Definition:</b> linemod.h:395</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a87bd66ebcf0edbe1ee426e1d383fad0a"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a87bd66ebcf0edbe1ee426e1d383fad0a">pcl::LINEMOD::setDetectionAveraging</a></div><div class="ttdeci">void setDetectionAveraging(bool average_detections)</div><div class="ttdoc">Enables/disables averaging of close detections.</div><div class="ttdef"><b>Definition:</b> linemod.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_a9dbc96606c195c5bf38822955349e9b3"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#a9dbc96606c195c5bf38822955349e9b3">pcl::LINEMOD::~LINEMOD</a></div><div class="ttdeci">virtual ~LINEMOD()</div><div class="ttdoc">Destructor</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_aad23a29ab2cb74972697a8306ba75f18"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#aad23a29ab2cb74972697a8306ba75f18">pcl::LINEMOD::serialize</a></div><div class="ttdeci">void serialize(std::ostream &amp;stream) const</div><div class="ttdoc">Serializes the stored templates to the specified stream.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ab8127a94ec03bf05667aa896ff19d9d6"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ab8127a94ec03bf05667aa896ff19d9d6">pcl::LINEMOD::detectTemplates</a></div><div class="ttdeci">void detectTemplates(const std::vector&lt; QuantizableModality * &gt; &amp;modalities, std::vector&lt; LINEMODDetection &gt; &amp;detections) const</div><div class="ttdoc">Detects the stored templates in the supplied modality data.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ac0b99408e558dc4aa10d645776cdb760"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ac0b99408e558dc4aa10d645776cdb760">pcl::LINEMOD::LINEMOD</a></div><div class="ttdeci">LINEMOD()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ac62518c051bfbafe3a64f039a5ac29d6"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ac62518c051bfbafe3a64f039a5ac29d6">pcl::LINEMOD::loadTemplates</a></div><div class="ttdeci">void loadTemplates(std::vector&lt; std::string &gt; &amp;file_names)</div><div class="ttdoc">Loads templates from the specified files.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ac84db3b27e4571cc3df2459a11e14a0d"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ac84db3b27e4571cc3df2459a11e14a0d">pcl::LINEMOD::setNonMaxSuppression</a></div><div class="ttdeci">void setNonMaxSuppression(bool use_non_max_suppression)</div><div class="ttdoc">Enables/disables non-maximum suppression.</div><div class="ttdef"><b>Definition:</b> linemod.h:404</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_acfc57fed45b04c31cf0f0fe73b2106a8"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#acfc57fed45b04c31cf0f0fe73b2106a8">pcl::LINEMOD::getNumOfTemplates</a></div><div class="ttdeci">size_t getNumOfTemplates() const</div><div class="ttdoc">Returns the number of stored/trained templates.</div><div class="ttdef"><b>Definition:</b> linemod.h:429</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ad34a543e68d9f58fee97537d8d53ceca"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ad34a543e68d9f58fee97537d8d53ceca">pcl::LINEMOD::average_detections_</a></div><div class="ttdeci">bool average_detections_</div><div class="ttdef"><b>Definition:</b> linemod.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ad5a23ca2b02d8dd708319543146b1c85"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ad5a23ca2b02d8dd708319543146b1c85">pcl::LINEMOD::addTemplate</a></div><div class="ttdeci">int addTemplate(const SparseQuantizedMultiModTemplate &amp;linemod_template)</div><div class="ttdoc">Adds the specified template to the matching queue.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_adfdec3b719e5c48c7b048c069e05e2c2"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#adfdec3b719e5c48c7b048c069e05e2c2">pcl::LINEMOD::createAndAddTemplate</a></div><div class="ttdeci">int createAndAddTemplate(const std::vector&lt; QuantizableModality * &gt; &amp;modalities, const std::vector&lt; MaskMap * &gt; &amp;masks, const RegionXY &amp;region)</div><div class="ttdoc">Creates a template from the specified data and adds it to the matching queue.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ae205f4aa9800d645d8d0ce54c78b2e0a"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ae205f4aa9800d645d8d0ce54c78b2e0a">pcl::LINEMOD::loadTemplates</a></div><div class="ttdeci">void loadTemplates(const char *file_name)</div><div class="ttdoc">Loads templates from the specified file.</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_ae78ddf8884ff7212988e508e96562803"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#ae78ddf8884ff7212988e508e96562803">pcl::LINEMOD::template_threshold_</a></div><div class="ttdeci">float template_threshold_</div><div class="ttdef"><b>Definition:</b> linemod.h:468</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_aeb84c63527c8be1098858e365e9d85e8"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#aeb84c63527c8be1098858e365e9d85e8">pcl::LINEMOD::use_non_max_suppression_</a></div><div class="ttdeci">bool use_non_max_suppression_</div><div class="ttdef"><b>Definition:</b> linemod.h:470</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html_af147c9cc41e546124fe806b98717797e"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html#af147c9cc41e546124fe806b98717797e">pcl::LINEMOD::templates_</a></div><div class="ttdeci">std::vector&lt; SparseQuantizedMultiModTemplate &gt; templates_</div><div class="ttdef"><b>Definition:</b> linemod.h:474</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html">pcl::LinearizedMaps</a></div><div class="ttdoc">Stores a set of linearized maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a17a2d40d723f7c93d14c4b4ce7409a23"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a17a2d40d723f7c93d14c4b4ce7409a23">pcl::LinearizedMaps::mem_height_</a></div><div class="ttdeci">size_t mem_height_</div><div class="ttdoc">the actual height of the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:304</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a1e9898cebf0c24d566a438d9f7cb14f1"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a1e9898cebf0c24d566a438d9f7cb14f1">pcl::LinearizedMaps::getWidth</a></div><div class="ttdeci">size_t getWidth() const</div><div class="ttdoc">Returns the width of the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a22515dda9db2f52eff445ab3073be8f1"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a22515dda9db2f52eff445ab3073be8f1">pcl::LinearizedMaps::maps_</a></div><div class="ttdeci">std::vector&lt; unsigned char * &gt; maps_</div><div class="ttdoc">a vector containing all the linearized maps.</div><div class="ttdef"><b>Definition:</b> linemod.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a22791fea03c156efef6ed2a5d0d6fe09"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a22791fea03c156efef6ed2a5d0d6fe09">pcl::LinearizedMaps::height_</a></div><div class="ttdeci">size_t height_</div><div class="ttdoc">the original height of the data represented by the map.</div><div class="ttdef"><b>Definition:</b> linemod.h:300</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a4c2bbf65283a174d35d273dc501daa71"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a4c2bbf65283a174d35d273dc501daa71">pcl::LinearizedMaps::initialize</a></div><div class="ttdeci">void initialize(const size_t width, const size_t height, const size_t step_size)</div><div class="ttdoc">Initializes the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a59f096b5ab6fe54cf74e761faafc5395"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a59f096b5ab6fe54cf74e761faafc5395">pcl::LinearizedMaps::LinearizedMaps</a></div><div class="ttdeci">LinearizedMaps()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> linemod.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a882a1e73fc0fc84a8bec1ecc2564a320"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a882a1e73fc0fc84a8bec1ecc2564a320">pcl::LinearizedMaps::getHeight</a></div><div class="ttdeci">size_t getHeight() const</div><div class="ttdoc">Returns the height of the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_a89470b8e7ccbf8487995074cd4225eeb"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#a89470b8e7ccbf8487995074cd4225eeb">pcl::LinearizedMaps::step_size_</a></div><div class="ttdeci">size_t step_size_</div><div class="ttdoc">the step-size used for sampling the original data.</div><div class="ttdef"><b>Definition:</b> linemod.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_aa44b8e4c0e56ed60aeb49f3fbd3ebcc1"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#aa44b8e4c0e56ed60aeb49f3fbd3ebcc1">pcl::LinearizedMaps::releaseAll</a></div><div class="ttdeci">void releaseAll()</div><div class="ttdoc">Releases the internal memory.</div><div class="ttdef"><b>Definition:</b> linemod.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_ab1342823690f1fdd89e118aa24e1abbf"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#ab1342823690f1fdd89e118aa24e1abbf">pcl::LinearizedMaps::getStepSize</a></div><div class="ttdeci">size_t getStepSize() const</div><div class="ttdoc">Returns the step-size used to construct the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_acb50e7f7bac88d1198ba33532ba81867"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#acb50e7f7bac88d1198ba33532ba81867">pcl::LinearizedMaps::getOffsetMap</a></div><div class="ttdeci">unsigned char * getOffsetMap(const size_t col_index, const size_t row_index)</div><div class="ttdoc">Returns a linearized map starting at the specified position.</div><div class="ttdef"><b>Definition:</b> linemod.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_aced4cf78026cbc4c44ab572057e2bca0"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#aced4cf78026cbc4c44ab572057e2bca0">pcl::LinearizedMaps::width_</a></div><div class="ttdeci">size_t width_</div><div class="ttdoc">the original width of the data represented by the map.</div><div class="ttdef"><b>Definition:</b> linemod.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_ad26217b4ca8937b288baa177caaba2a7"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#ad26217b4ca8937b288baa177caaba2a7">pcl::LinearizedMaps::getMapMemorySize</a></div><div class="ttdeci">size_t getMapMemorySize() const</div><div class="ttdoc">Returns the size of the memory map.</div><div class="ttdef"><b>Definition:</b> linemod.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_ad3c16215b3c87bdeaeadabf6bfd93226"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#ad3c16215b3c87bdeaeadabf6bfd93226">pcl::LinearizedMaps::mem_width_</a></div><div class="ttdeci">size_t mem_width_</div><div class="ttdoc">the actual width of the linearized map.</div><div class="ttdef"><b>Definition:</b> linemod.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1_linearized_maps_html_ae53f5f20a4303ba7cb751775f05fdcd7"><div class="ttname"><a href="classpcl_1_1_linearized_maps.html#ae53f5f20a4303ba7cb751775f05fdcd7">pcl::LinearizedMaps::~LinearizedMaps</a></div><div class="ttdeci">virtual ~LinearizedMaps()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> linemod.h:209</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">pcl::LINEMODDetection</a></div><div class="ttdoc">Represents a detection of a template using the LINEMOD approach.</div><div class="ttdef"><b>Definition:</b> linemod.h:315</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a01cd16f8381c075e5183cbba157d5e51"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a01cd16f8381c075e5183cbba157d5e51">pcl::LINEMODDetection::LINEMODDetection</a></div><div class="ttdeci">LINEMODDetection()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> linemod.h:317</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a5b0ae6f2aa1d3a67467d5890e5ee4430"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">pcl::LINEMODDetection::template_id</a></div><div class="ttdeci">int template_id</div><div class="ttdoc">ID of the detected template.</div><div class="ttdef"><b>Definition:</b> linemod.h:324</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a6a0b620be4a33b69bf2fac09f2ff8f0a"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">pcl::LINEMODDetection::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:322</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a71652f6da75b189628e2176d13ba5474"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">pcl::LINEMODDetection::scale</a></div><div class="ttdeci">float scale</div><div class="ttdoc">scale at which the template was detected.</div><div class="ttdef"><b>Definition:</b> linemod.h:328</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a8d1499ff25f160543569ddd6feefb805"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">pcl::LINEMODDetection::score</a></div><div class="ttdeci">float score</div><div class="ttdoc">score of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:326</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_ab79e94254c59b9f0f1445dbf8489ab36"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">pcl::LINEMODDetection::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:320</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html"><div class="ttname"><a href="structpcl_1_1_region_x_y.html">pcl::RegionXY</a></div><div class="ttdoc">Defines a region in XY-space.</div><div class="ttdef"><b>Definition:</b> region_xy.h:83</div></div>
<div class="ttc" id="astructpcl_1_1_sparse_quantized_multi_mod_template_html"><div class="ttname"><a href="structpcl_1_1_sparse_quantized_multi_mod_template.html">pcl::SparseQuantizedMultiModTemplate</a></div><div class="ttdoc">A multi-modality template constructed from a set of quantized multi-modality features.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:110</div></div>
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